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<div class="header">
  <div class="headertitle"><div class="title">NEDRollPitchYawToECEFEuler.hpp</div></div>
</div><!--header-->
<div class="contents">
<a href="_n_e_d_roll_pitch_yaw_to_e_c_e_f_euler_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span> </div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span><span class="preprocessor">#pragma once</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span> </div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span><span class="preprocessor">#include &lt;cmath&gt;</span></div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span> </div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span><span class="preprocessor">#include &quot;<a class="code" href="_euler_8hpp.html">NumCpp/Coordinates/Euler.hpp</a>&quot;</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span><span class="preprocessor">#include &quot;<a class="code" href="_orientation_8hpp.html">NumCpp/Coordinates/Orientation.hpp</a>&quot;</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span><span class="preprocessor">#include &quot;<a class="code" href="_e_c_e_f_8hpp.html">NumCpp/Coordinates/ReferenceFrames/ECEF.hpp</a>&quot;</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span><span class="preprocessor">#include &quot;<a class="code" href="_n_e_d_unit_vecs_in_e_c_e_f_8hpp.html">NumCpp/Coordinates/Transforms/NEDUnitVecsInECEF.hpp</a>&quot;</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span><span class="preprocessor">#include &quot;<a class="code" href="wrap_8hpp.html">NumCpp/Functions/wrap.hpp</a>&quot;</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span><span class="preprocessor">#include &quot;<a class="code" href="_quaternion_8hpp.html">NumCpp/Rotations/Quaternion.hpp</a>&quot;</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span><span class="preprocessor">#include &quot;<a class="code" href="_vec3_8hpp.html">NumCpp/Vector/Vec3.hpp</a>&quot;</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span> </div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacenc_1_1coordinates_1_1transforms.html">nc::coordinates::transforms</a></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>{</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"><a class="line" href="namespacenc_1_1coordinates_1_1transforms.html#ab679db34322c0ba96d93e25eb6f16567">   49</a></span>    [[nodiscard]] <span class="keyword">inline</span> <a class="code hl_class" href="classnc_1_1coordinates_1_1_euler.html">Euler</a> <a class="code hl_function" href="namespacenc_1_1coordinates_1_1transforms.html#ab679db34322c0ba96d93e25eb6f16567">NEDRollPitchYawToECEFEuler</a>(<span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1coordinates_1_1reference__frames_1_1_e_c_e_f.html">reference_frames::ECEF</a>&amp; location,</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>                                                          <span class="keyword">const</span> <a class="code hl_class" href="classnc_1_1coordinates_1_1_orientation.html">Orientation</a>&amp;            orientation) <span class="keyword">noexcept</span></div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span>    {</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>        <span class="comment">// get the local NED unit vectors wrt the ECEF coordinate system</span></div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>        <span class="keyword">const</span> <span class="keyword">auto</span>&amp; [x0, y0, z0] = <a class="code hl_function" href="namespacenc_1_1coordinates_1_1transforms.html#af43ca6c1f96cf4d95024b7d4eb135605">NEDUnitVecsInECEF</a>(location);</div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span> </div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno">   55</span>        <span class="comment">// first rotation array, z0 by yaw</span></div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno">   56</span>        <span class="keyword">const</span> <span class="keyword">auto</span> quatYaw = <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">rotations::Quaternion</a>{ z0, orientation.<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a5b5cef534a39badf5d3079ee642e675c">yaw</a> };</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span> </div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span>        <span class="comment">// rotate</span></div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno">   59</span>        <span class="keyword">const</span> <span class="keyword">auto</span> x1 = quatYaw * x0;</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span>        <span class="keyword">const</span> <span class="keyword">auto</span> y1 = quatYaw * y0;</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno">   61</span> </div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno">   62</span>        <span class="comment">// second rotation array, y1 by pitch</span></div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno">   63</span>        <span class="keyword">const</span> <span class="keyword">auto</span> quatPitch = <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">rotations::Quaternion</a>{ y1, orientation.<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a601b444c8c8f820700844d7ab5f743ba">pitch</a> };</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span> </div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno">   65</span>        <span class="comment">// rotate</span></div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno">   66</span>        <span class="keyword">const</span> <span class="keyword">auto</span> x2 = quatPitch * x1;</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno">   67</span>        <span class="keyword">const</span> <span class="keyword">auto</span> y2 = quatPitch * y1;</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span> </div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno">   69</span>        <span class="comment">// third rotation array, x2 by roll</span></div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno">   70</span>        <span class="keyword">const</span> <span class="keyword">auto</span> quatRoll = <a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">rotations::Quaternion</a>{ x2, orientation.<a class="code hl_function" href="classnc_1_1rotations_1_1_quaternion.html#a26f2a9303f0521ee36d92467ab45e3ab">roll</a> };</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno">   71</span> </div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span>        <span class="comment">// rotate</span></div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno">   73</span>        <span class="keyword">const</span> <span class="keyword">auto</span> x3 = quatRoll * x2;</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno">   74</span>        <span class="keyword">const</span> <span class="keyword">auto</span> y3 = quatRoll * y2;</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno">   75</span> </div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span>        <span class="comment">// calculate phi and theta</span></div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno">   77</span>        <span class="keyword">const</span> <span class="keyword">auto</span> xHat0 = <a class="code hl_function" href="classnc_1_1_vec3.html#af8862aed471260a45c7691c7c5c6b016">Vec3::right</a>();</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno">   78</span>        <span class="keyword">const</span> <span class="keyword">auto</span> yHat0 = <a class="code hl_function" href="classnc_1_1_vec3.html#aafc14ccae575994733d664eb3f4a6e66">Vec3::up</a>();</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno">   79</span>        <span class="keyword">const</span> <span class="keyword">auto</span> zHat0 = <a class="code hl_function" href="classnc_1_1_vec3.html#ac5a33c96c05a8c856b774c24f4a1965d">Vec3::forward</a>();</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span> </div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno">   81</span>        <span class="keyword">const</span> <span class="keyword">auto</span> psi   = std::atan2(x3.dot(yHat0), x3.dot(xHat0));</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno">   82</span>        <span class="keyword">const</span> <span class="keyword">auto</span> theta = std::atan(-x3.dot(zHat0) / <a class="code hl_function" href="namespacenc.html#a4648674053cd83851d9549bbcc7a8481">std::hypot</a>(x3.dot(xHat0), x3.dot(yHat0)));</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span> </div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno">   84</span>        <span class="comment">// calculate phi</span></div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span>        <span class="keyword">const</span> <span class="keyword">auto</span> yHat2 = (<a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">rotations::Quaternion</a>{ zHat0, psi } * yHat0);</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>        <span class="keyword">const</span> <span class="keyword">auto</span> zHat2 = (<a class="code hl_class" href="classnc_1_1rotations_1_1_quaternion.html">rotations::Quaternion</a>{ yHat2, theta } * zHat0);</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>        <span class="keyword">const</span> <span class="keyword">auto</span> phi   = std::atan2(y3.dot(zHat2), y3.dot(yHat2));</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span> </div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span>        <span class="keywordflow">return</span> { <a class="code hl_function" href="namespacenc.html#a934c6035316cd3a547161f1ed98c3442">wrap</a>(psi), theta, <a class="code hl_function" href="namespacenc.html#a934c6035316cd3a547161f1ed98c3442">wrap</a>(phi) };</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    }</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>} <span class="comment">// namespace nc::coordinates::transforms</span></div>
<div class="ttc" id="a_e_c_e_f_8hpp_html"><div class="ttname"><a href="_e_c_e_f_8hpp.html">ECEF.hpp</a></div></div>
<div class="ttc" id="a_euler_8hpp_html"><div class="ttname"><a href="_euler_8hpp.html">Euler.hpp</a></div></div>
<div class="ttc" id="a_n_e_d_unit_vecs_in_e_c_e_f_8hpp_html"><div class="ttname"><a href="_n_e_d_unit_vecs_in_e_c_e_f_8hpp.html">NEDUnitVecsInECEF.hpp</a></div></div>
<div class="ttc" id="a_orientation_8hpp_html"><div class="ttname"><a href="_orientation_8hpp.html">Orientation.hpp</a></div></div>
<div class="ttc" id="a_quaternion_8hpp_html"><div class="ttname"><a href="_quaternion_8hpp.html">Quaternion.hpp</a></div></div>
<div class="ttc" id="a_vec3_8hpp_html"><div class="ttname"><a href="_vec3_8hpp.html">Vec3.hpp</a></div></div>
<div class="ttc" id="aclassnc_1_1_vec3_html_aafc14ccae575994733d664eb3f4a6e66"><div class="ttname"><a href="classnc_1_1_vec3.html#aafc14ccae575994733d664eb3f4a6e66">nc::Vec3::up</a></div><div class="ttdeci">static constexpr Vec3 up() noexcept</div><div class="ttdef"><b>Definition:</b> Vec3.hpp:349</div></div>
<div class="ttc" id="aclassnc_1_1_vec3_html_ac5a33c96c05a8c856b774c24f4a1965d"><div class="ttname"><a href="classnc_1_1_vec3.html#ac5a33c96c05a8c856b774c24f4a1965d">nc::Vec3::forward</a></div><div class="ttdeci">static constexpr Vec3 forward() noexcept</div><div class="ttdef"><b>Definition:</b> Vec3.hpp:235</div></div>
<div class="ttc" id="aclassnc_1_1_vec3_html_af8862aed471260a45c7691c7c5c6b016"><div class="ttname"><a href="classnc_1_1_vec3.html#af8862aed471260a45c7691c7c5c6b016">nc::Vec3::right</a></div><div class="ttdeci">static constexpr Vec3 right() noexcept</div><div class="ttdef"><b>Definition:</b> Vec3.hpp:313</div></div>
<div class="ttc" id="aclassnc_1_1coordinates_1_1_euler_html"><div class="ttname"><a href="classnc_1_1coordinates_1_1_euler.html">nc::coordinates::Euler</a></div><div class="ttdoc">Euler.</div><div class="ttdef"><b>Definition:</b> Euler.hpp:40</div></div>
<div class="ttc" id="aclassnc_1_1coordinates_1_1_orientation_html"><div class="ttname"><a href="classnc_1_1coordinates_1_1_orientation.html">nc::coordinates::Orientation</a></div><div class="ttdoc">Orientation.</div><div class="ttdef"><b>Definition:</b> Orientation.hpp:40</div></div>
<div class="ttc" id="aclassnc_1_1coordinates_1_1reference__frames_1_1_e_c_e_f_html"><div class="ttname"><a href="classnc_1_1coordinates_1_1reference__frames_1_1_e_c_e_f.html">nc::coordinates::reference_frames::ECEF</a></div><div class="ttdoc">ECEF coordinates.</div><div class="ttdef"><b>Definition:</b> ECEF.hpp:40</div></div>
<div class="ttc" id="aclassnc_1_1rotations_1_1_quaternion_html"><div class="ttname"><a href="classnc_1_1rotations_1_1_quaternion.html">nc::rotations::Quaternion</a></div><div class="ttdoc">Holds a unit quaternion.</div><div class="ttdef"><b>Definition:</b> Quaternion.hpp:56</div></div>
<div class="ttc" id="aclassnc_1_1rotations_1_1_quaternion_html_a26f2a9303f0521ee36d92467ab45e3ab"><div class="ttname"><a href="classnc_1_1rotations_1_1_quaternion.html#a26f2a9303f0521ee36d92467ab45e3ab">nc::rotations::Quaternion::roll</a></div><div class="ttdeci">double roll() const noexcept</div><div class="ttdef"><b>Definition:</b> Quaternion.hpp:402</div></div>
<div class="ttc" id="aclassnc_1_1rotations_1_1_quaternion_html_a5b5cef534a39badf5d3079ee642e675c"><div class="ttname"><a href="classnc_1_1rotations_1_1_quaternion.html#a5b5cef534a39badf5d3079ee642e675c">nc::rotations::Quaternion::yaw</a></div><div class="ttdeci">double yaw() const noexcept</div><div class="ttdef"><b>Definition:</b> Quaternion.hpp:607</div></div>
<div class="ttc" id="aclassnc_1_1rotations_1_1_quaternion_html_a601b444c8c8f820700844d7ab5f743ba"><div class="ttname"><a href="classnc_1_1rotations_1_1_quaternion.html#a601b444c8c8f820700844d7ab5f743ba">nc::rotations::Quaternion::pitch</a></div><div class="ttdeci">double pitch() const noexcept</div><div class="ttdef"><b>Definition:</b> Quaternion.hpp:370</div></div>
<div class="ttc" id="anamespacenc_1_1coordinates_1_1transforms_html"><div class="ttname"><a href="namespacenc_1_1coordinates_1_1transforms.html">nc::coordinates::transforms</a></div><div class="ttdef"><b>Definition:</b> AERtoECEF.hpp:38</div></div>
<div class="ttc" id="anamespacenc_1_1coordinates_1_1transforms_html_ab679db34322c0ba96d93e25eb6f16567"><div class="ttname"><a href="namespacenc_1_1coordinates_1_1transforms.html#ab679db34322c0ba96d93e25eb6f16567">nc::coordinates::transforms::NEDRollPitchYawToECEFEuler</a></div><div class="ttdeci">Euler NEDRollPitchYawToECEFEuler(const reference_frames::ECEF &amp;location, const Orientation &amp;orientation) noexcept</div><div class="ttdoc">Converts NED body roll/pitch/yaw to ECEF euler angles.</div><div class="ttdef"><b>Definition:</b> NEDRollPitchYawToECEFEuler.hpp:49</div></div>
<div class="ttc" id="anamespacenc_1_1coordinates_1_1transforms_html_af43ca6c1f96cf4d95024b7d4eb135605"><div class="ttname"><a href="namespacenc_1_1coordinates_1_1transforms.html#af43ca6c1f96cf4d95024b7d4eb135605">nc::coordinates::transforms::NEDUnitVecsInECEF</a></div><div class="ttdeci">std::array&lt; Vec3, 3 &gt; NEDUnitVecsInECEF(const reference_frames::ECEF &amp;location) noexcept</div><div class="ttdoc">get the local NED unit vectors wrt the ECEF coordinate system https://gssc.esa.int/navipedia/index....</div><div class="ttdef"><b>Definition:</b> NEDUnitVecsInECEF.hpp:45</div></div>
<div class="ttc" id="anamespacenc_html_a4648674053cd83851d9549bbcc7a8481"><div class="ttname"><a href="namespacenc.html#a4648674053cd83851d9549bbcc7a8481">nc::hypot</a></div><div class="ttdeci">double hypot(dtype inValue1, dtype inValue2) noexcept</div><div class="ttdef"><b>Definition:</b> hypot.hpp:56</div></div>
<div class="ttc" id="anamespacenc_html_a934c6035316cd3a547161f1ed98c3442"><div class="ttname"><a href="namespacenc.html#a934c6035316cd3a547161f1ed98c3442">nc::wrap</a></div><div class="ttdeci">double wrap(dtype inAngle) noexcept</div><div class="ttdoc">Wrap the input angle to [-pi, pi].</div><div class="ttdef"><b>Definition:</b> wrap.hpp:45</div></div>
<div class="ttc" id="awrap_8hpp_html"><div class="ttname"><a href="wrap_8hpp.html">wrap.hpp</a></div></div>
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